CN111572773A - Medium-sized tactical transporter - Google Patents

Medium-sized tactical transporter Download PDF

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Publication number
CN111572773A
CN111572773A CN202010443344.5A CN202010443344A CN111572773A CN 111572773 A CN111572773 A CN 111572773A CN 202010443344 A CN202010443344 A CN 202010443344A CN 111572773 A CN111572773 A CN 111572773A
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CN
China
Prior art keywords
wing
fuselage
unmanned aerial
aerial vehicle
vertical tail
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CN202010443344.5A
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Chinese (zh)
Inventor
岳源
马尧
钱诚
王超
吴海明
王旭
刘宏娟
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Civil Aviation Flight University of China
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Civil Aviation Flight University of China
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Publication date
Application filed by Civil Aviation Flight University of China filed Critical Civil Aviation Flight University of China
Priority to CN202010443344.5A priority Critical patent/CN111572773A/en
Publication of CN111572773A publication Critical patent/CN111572773A/en
Pending legal-status Critical Current

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64CAEROPLANES; HELICOPTERS
    • B64C39/00Aircraft not otherwise provided for
    • B64C39/08Aircraft not otherwise provided for having multiple wings
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64CAEROPLANES; HELICOPTERS
    • B64C1/00Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
    • B64C1/14Windows; Doors; Hatch covers or access panels; Surrounding frame structures; Canopies; Windscreens accessories therefor, e.g. pressure sensors, water deflectors, hinges, seals, handles, latches, windscreen wipers
    • B64C1/1407Doors; surrounding frames
    • B64C1/1415Cargo doors, e.g. incorporating ramps
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64CAEROPLANES; HELICOPTERS
    • B64C1/00Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
    • B64C1/18Floors
    • B64C1/20Floors specially adapted for freight
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64CAEROPLANES; HELICOPTERS
    • B64C3/00Wings
    • B64C3/10Shape of wings
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64CAEROPLANES; HELICOPTERS
    • B64C3/00Wings
    • B64C3/36Structures adapted to reduce effects of aerodynamic or other external heating
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64DEQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D9/00Equipment for handling freight; Equipment for facilitating passenger embarkation or the like

Abstract

The invention discloses a medium tactical transporter, belonging to the field of aircraft design, used for implementing functions of cargo air transportation, rescue and relief, transportation of unmanned aerial vehicles, carrying of general aerial platforms and the like, and solving the problems of insufficient cruising ability and poor loading ability of the prior art, comprising a body, wherein the upper part of the body is connected with a sweepback front wing along the longitudinal direction of the body, a V-shaped vertical tail wing is arranged above the stern part of the body, sweepback wings are respectively arranged at two sides of the middle section of the vertical tail wing in the outward direction, the back wings extend inwards along the middle section of the vertical tail wing and are connected with opposite side back wings to form an inverted V-shaped whole body, the wing tip of each back wing is connected with the front wing through an end plate, and the combined wing layout is adopted, so that the medium tactical transporter has the advantages of high lift coefficient, high lift resistance ratio, light structure weight and strong loading ability, and is favorable for carrying large-size, and realize high-altitude long-time cruising.

Description

Medium-sized tactical transporter
Technical Field
A medium-sized tactical transporter belongs to the field of aircraft design and is used for implementing functions of air cargo transportation, emergency rescue and relief, transportation of unmanned aerial vehicles, carrying of a general aerial platform and the like.
Background
The tactical transport plane is a military transport plane which is mainly used for carrying the tasks of transporting soldiers and materials in a short distance near a war zone. The tactical transport plane is generally a small and medium-sized plane, has the takeoff weight of 60-80 tons and the load capacity of about 20 tons, and can transport more than 100 soldiers; voyage 3000 + 4000 km; most turboprop engines are installed, typically at cruise speeds of 500 and 700 km/h.
In recent years, the prior Soviet Union 12 transport aircraft is improved on the basis of the active medium-sized tactical transport aircraft in China at the present stage. Although the body structure and the avionics equipment have advanced sufficiently, the design concept and the aerodynamic layout continue to be the first 12 amperes in 1956. With the increasing air transportation demand, the existing medium-sized transport machines in China often have the problems of weak loading capacity, insufficient cruising ability, single task, and the like.
Disclosure of Invention
The invention aims to: provides a medium-sized tactical transporter, which solves the defects of insufficient cruising ability and weak loading ability in the prior art.
The technical scheme adopted by the invention is as follows:
the middle-sized tactical transporter comprises a body, wherein the longitudinal direction of the body is arranged, the upper part of the body is connected with a sweepback front wing, a V-shaped vertical tail wing is arranged above the stern part of the body, sweepback rear wings are arranged on the two sides of the middle section of the vertical tail wing respectively in the outer side direction, the rear wings are arranged along the middle section of the vertical tail wing inwards and are connected with opposite side rear wings to form an inverted V-shaped whole, and each wing tip of each rear wing is connected with the front wing through an end plate.
In the technical scheme of the application: the sweepback front wing and the sweepfront rear wing are connected through the end plate, the rear wing is connected with the vertical tail wing and then connected with the opposite side rear wing, the structural strength is improved, the combined wing layout is adopted on the whole, and the combined wing type aircraft has the advantages of high lift coefficient, high lift-drag ratio, light structural weight and strong loading capacity. The induced resistance is reduced, the transonic speed and the supersonic wave resistance are reduced, and then the lift force obtained by the conveyor and the cruising speed of the conveyor are improved. And the layout of the joint wings is beneficial to carrying large-size materials and realizing high-altitude long-time cruising.
Preferably, the front wing is located 9.6m away from the front part of the fuselage, the sweepback angle of the front edge of the front wing is 25 degrees, the V-shaped included angle of the V-shaped vertical tail wing is 50 degrees, the sweepback angle of the front edge of the rear wing is 36 degrees, the end plate inclines towards the outer side of the fuselage, the inclined included angle is 74 degrees, and the area of the end plate is 2.6m2
More preferably, a first aileron with a length of 4.8m and a flap with a length of 7.7m are arranged at 65% of the span of the front wing, a second aileron is arranged at the rear edge of the rear wing, an elevator with a length of 6.9m is arranged at 31% of the span of the rear wing, a rudder with a length of 5.8m is arranged at 88% of the chord of the vertical tail wing, the vertical tail wing is of a double-beam structure, the double beams are arranged along the span direction of the vertical tail wing, and the rear wing is connected with the vertical tail wing through a large interference bolt.
Preferably, the place ahead lower part of fuselage is provided with the equipment cabin, and the equipment cabin is used for loading airborne equipment such as radar, navigation, fuselage the place ahead upper portion is provided with the cockpit, can load three people, and the cockpit can get into behind the aircraft or get into by the nose landing gear storehouse by stern hatch door, be provided with central wing box on the fuselage at the rear of cockpit, the front wing through big surplus bolt with central wing box links to each other. In the technical scheme of the application, the structure and the working principle of the cockpit are the same as those of the existing medium-sized conveyor.
Preferably, a left engine and a right engine are respectively arranged on two sides of the fuselage, which are 18.3m away from the front part of the fuselage. The WS20 engine can be adopted in the short term of the left engine and the right engine, and a novel adaptive variable-cycle engine can also be adopted.
Preferably, a nose landing gear is arranged at a position 6.3m away from the front part of the fuselage, a main landing gear which is bilaterally symmetrical is arranged at a position 14m away from the front part of the fuselage, and the nose landing gear and the main landing gear can be retracted and positioned in the fuselage through hydraulic drive. The nose landing gear can be folded backwards and retracted into the fuselage, and the main landing gears on the two sides can be folded towards the inner side of the fuselage and retracted into the landing gear fairing of the fuselage.
Preferably, a midship of the fuselage is provided with a cargo hold, and the cargo hold is long: 14.87m, cargo hold width: 4.2m, cargo bay height: 4.4m, floor width: and 3.5m, a double-piece tail cabin door controlled by an automatic control system is arranged at the bottom of the cargo hold, and the double-piece tail cabin door is driven by a hydraulic actuator and can be controlled in a cockpit by a pilot or controlled on the ground by a unit.
Preferably, an unmanned aerial vehicle recovery and release cabin is arranged at a position 17.2 away from the front part of the machine body, the unmanned aerial vehicle recovery and release cabin is positioned at the lower part of the cargo cabin and is separated by a floor, the unmanned aerial vehicle recovery and release cabin is 4.4 in length and 2m in width and can accommodate four unmanned aerial vehicles with the size of 2m x 1m x 0.5m (folded state), the unmanned aerial vehicle recovery and release cabin comprises an unmanned aerial vehicle recovery cabin floor (airplane body floor), the recovery cabin floor is positioned at the top of the unmanned aerial vehicle recovery cabin, a plurality of pairs of guide grooves are positioned below the cargo cabin floor, each pair of guide grooves are matched with an unmanned aerial vehicle butt joint structure and a tenon clamping mechanism and a bottom cabin door positioned at the bottom, each pair of guide grooves comprises two horizontal and symmetrical guide plates, a gap between the two transverse plates and a longitudinal plate positioned at the bottom of the outer edge of the transverse plates, and the transverse plates and the, the gap is from middle to keeping away from one side of trip mechanism increases in proper order, unmanned aerial vehicle butt joint structure has the fixed block of round ring channel for the periphery, the upper portion of fixed block is unmanned aerial vehicle butt joint face, the fixed block both sides the ring channel with two diaphragms cooperate, around the fixed block the ring channel cooperatees with trip mechanism. When the unmanned aerial vehicle is recovered, the tenon clamping mechanism can be controlled by a driver or a flight control system, the hydraulic motor drives the rotary shaft connected to the floor of the recovery cabin to rotate to the vertical direction, and when the unmanned aerial vehicle docking structure slides to one end, close to the tenon clamping mechanism, of the guide groove along the guide groove, the tenon clamping mechanism is combined with the unmanned aerial vehicle docking structure, so that the aim of fixing the unmanned aerial vehicle is fulfilled; when releasing unmanned aerial vehicle, the tenon mechanism is driven by hydraulic motor to rotate to the horizontal direction to break away from the combination with unmanned aerial vehicle butt joint structure, reach the purpose of releasing unmanned aerial vehicle.
More preferably, the guide grooves are 4 pairs.
In summary, due to the adoption of the technical scheme, the invention has the beneficial effects that:
1. in the invention, the sweepback front wing and the sweepback wing are connected through the end plate, the back wing is connected with the vertical tail wing, and then the back wing is connected with the opposite side back wing, thereby improving the structural strength;
2. the combined wing layout is adopted on the whole, and has the advantages of high lift coefficient, high lift-drag ratio, light structure weight and strong loading capacity, compared with the traditional layout, the structure can improve the strength of the wing, reduce the weight of the airplane and provide direct lift force and direct lateral force control capacity;
3. the induced resistance is reduced, the transonic speed and the supersonic wave resistance are reduced, the lift force obtained by the conveyor and the cruising speed of the conveyor are further improved, and the layout of the linked wings is favorable for carrying large-size materials and realizing high-altitude long-time cruising;
4. through the setting of unmanned aerial vehicle recovery and release cabin, can retrieve and release unmanned aerial vehicle, consequently can be through having man-machine and unmanned aerial vehicle's cooperation, can carry out more tasks, like reconnoitring, attack, cover etc..
Drawings
FIG. 1 is a schematic front view of the present invention;
FIG. 2 is a schematic top view of the present invention;
FIG. 3 is a left side view schematic of the present invention;
FIG. 4 is a schematic bottom view of the present invention;
FIG. 5 is a perspective view of the present invention;
FIG. 6 is a schematic view of the unmanned aerial vehicle recovery mechanism of the present invention;
fig. 7 is a schematic view of the docking mechanism of the unmanned aerial vehicle of the present invention;
fig. 8 is a three-dimensional view of the unmanned aerial vehicle recovery mechanism of the present invention.
The labels in the figure are: 1-fuselage, 11-equipment bay, 12-cockpit, 13-central wing box, 2-front wing, 21-first aileron, 22-flap, 3-vertical tail, 31-rudder, 4-rear wing, 41-elevator, 42-second aileron, 51-left engine, 52-right engine, 61-front landing gear, 62-main landing gear, 7-drone recovery and release bay, 71-guide slot, 72-trip mechanism, 73-bottom bay door, 8-two-piece tailgate door, 88-cargo bay, 9-drone dock, 10-end plate, 111-drone recovery bay floor, 222-slot, 333-annular slot, 444-drone dock, 555-transverse plate, 666-longitudinal plate.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Example 1
As shown in fig. 2-5, a middle tactical transporter comprises a body 1, wherein a sweepback front wing 2 is connected to the upper portion of the body 1 along the longitudinal direction of the body 1, a V-shaped vertical tail wing 3 is arranged above the stern portion of the body 1, sweepback wings 4 are respectively arranged on two sides of the middle section of the vertical tail wing 3 in the outer direction, the back wings 4 extend inwards along the middle section of the vertical tail wing 3 and are connected with the opposite back wings 4 to form an inverted V-shaped whole, and the wing tips of each back wing 4 are connected with the front wing 2 through end plates 10.
In the technical scheme of the application: the sweepback front wing 2 and the sweepback wing 4 are connected through the end plate 10, the back wing 4 is connected with the vertical tail wing 3 and then connected with the opposite side back wing 4, the structural strength is improved, the combined wing layout is adopted on the whole, the combined wing type aircraft has the advantages of high lift coefficient, high lift-drag ratio, light structural weight and strong loading capacity, and compared with the traditional layout, the structure can improve the wing strength, reduce the aircraft weight and provide direct lift force and direct lateral force control capacity. The induced resistance is reduced, the transonic speed and the supersonic wave resistance are reduced, and then the lift force obtained by the conveyor and the cruising speed of the conveyor are improved. And the layout of the joint wings is beneficial to carrying large-size materials and realizing high-altitude long-time cruising.
Example 2
As shown in fig. 5, based on embodiment 1, the front wing 2 is located 9.6m away from the front of the fuselage 1, the swept-back angle of the front wing 2 is 25 °, the V-shaped included angle of the V-shaped vertical tail wing 3 is 50 °, the swept-forward angle of the rear wing 4 is 36 °, the end plate 10 is inclined toward the outer side of the fuselage 1, the inclined included angle is 74 °, and the area of the end plate 10 is 2.6m 2.
Example 3
As shown in fig. 2, based on embodiment 1, a first aileron 21 with a length of 4.8m and a flap 22 with a length of 7.7m are arranged at 65% of the span of the front wing 2, a second aileron 42 is arranged at the rear edge of the rear wing 4, an elevator 41 with a length of 6.9m is arranged at 31% of the span of the rear wing 4, a rudder 31 with a length of 5.8m is arranged at 88% of the chord of the vertical tail wing 3, the vertical tail wing 3 is of a double-beam structure, the double beams are arranged along the span direction of the vertical tail wing 3, and the rear wing 4 is connected with the vertical tail wing 3 through large interference bolts.
Example 4
As shown in fig. 2 and 4, on the basis of embodiment 1, an equipment cabin 11 is arranged at the lower front part of the fuselage 1, the equipment cabin 11 is used for loading airborne equipment such as radar and navigation, a cockpit 12 is arranged at the upper front part of the fuselage 1 and is capable of loading three persons, a central wing box 13 is arranged on the fuselage 1 behind the cockpit 12, and the front wing 2 is connected with the central wing box 13 through a large interference bolt.
Example 5
As shown in fig. 2, in embodiment 1, a left engine 51 and a right engine 52 are respectively provided on both sides of the body 1 at a distance of 18.3m from the front portion of the body 1.
Example 6
As shown in fig. 1, in addition to embodiment 1, a nose landing gear 61 is provided at a lower portion 6.3m away from the front portion of the fuselage 1, a main landing gear 62 is provided at a lower portion 14m away from the front portion of the fuselage 1, and the nose landing gear 61 and the main landing gear 62 are retractable and are located in the fuselage 1.
Example 7
As shown in fig. 2 and 4, in the midship of the fuselage 1, a cargo compartment 88 is provided, which is long: 14.87m, cargo hold width: 4.2m, cargo bay height: 4.4m, floor width: 3.5m, and a double-piece tail door 8 is arranged at the bottom of the cargo hold 88.
Example 8
As shown in fig. 4, 6-8, based on embodiment 1, there is provided a drone retrieving and releasing cabin 7 in the lower part of 17.2 away from the front part of the fuselage 1, the drone retrieving and releasing cabin 7 is located in the lower part of the cargo hold 88 and is separated by a floor, the drone retrieving and releasing cabin 7 has a length of 4.4 and a width of 2m and can accommodate four drones with a size of 2m 1m 0.5m (folded state), the drone retrieving and releasing cabin 7 includes a drone retrieving cabin floor 111, a plurality of pairs of guide slots 71 located on the drone retrieving cabin floor 111, each pair of the drone docking structure 9 and the latch mechanism 72 matched with each pair of the guide slots 71 and a bottom cabin door 73 located at the bottom, each pair of the guide slots 71 includes two horizontal and symmetrical transverse boards 555, a gap 222 located between the two transverse boards 555 and a longitudinal board 666 located at the outer side edge of the transverse boards 555, diaphragm 555 with vertical plate 666 integrated into one piece, gap 222 from the middle to keeping away from one side of tenon mechanism 72 increases in proper order, unmanned aerial vehicle butt joint structure 9 has the fixed block of round ring channel 333 for the periphery, the upper portion of fixed block is unmanned aerial vehicle butt joint face 444, the fixed block both sides the ring channel 333 with two diaphragms 555 cooperate, around the fixed block the ring channel 333 cooperatees with tenon mechanism 72. When the unmanned aerial vehicle is recovered, the tenon clamping mechanism 72 can be controlled by a driver or a flight control system, the hydraulic motor drives the rotary shaft connected to the floor of the recovery cabin to rotate to the vertical direction, and when the unmanned aerial vehicle docking structure 9 slides to one end, close to the tenon clamping mechanism 72, of the guide groove 71 along the guide groove 71, the tenon clamping mechanism 72 is combined with the unmanned aerial vehicle docking structure 9, so that the aim of fixing the unmanned aerial vehicle is fulfilled; when releasing unmanned aerial vehicle, tenon mechanism 72 is rotated to the horizontal direction by hydraulic motor drive to break away from the combination with unmanned aerial vehicle butt joint structure 9, reach the purpose of releasing unmanned aerial vehicle.
Example 9
As shown in fig. 6 and 8, in embodiment 8, the guide grooves 71 are 4 pairs.
Example 10
The basic data and performance parameters of the conveyor are shown in table 1.
Table 1 basic performance and parameter table of the conveyor of the present application
Figure BDA0002504743990000051
Figure BDA0002504743990000061
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.

Claims (9)

1. A medium-sized tactical transporter, characterized in that: including fuselage (1), follow fuselage (1) longitudinal direction, fuselage (1) upper portion is connected with sweepback front wing (2), fuselage (1) stern portion top is provided with V-arrangement vertical tail wing (3), vertical tail wing (3) middle section both sides are provided with sweepback wing (4) of sweepback respectively to the outside direction, back wing (4) are followed vertical tail wing (3) middle section is inwards extended and is met with offside rear wing (4) and form the font of falling V wholly, every the wingtip of back wing (4) passes through end plate (10) and links to each other with front wing (2).
2. The medium tactical transport of claim 1, wherein:the front wing (2) is located 9.6m away from the front part of the fuselage (1), the sweepback angle of the front wing (2) is 25 degrees, the V-shaped included angle of the V-shaped vertical tail wing (3) is 50 degrees, the sweepback angle of the rear wing (4) is 36 degrees, the end plate (10) inclines towards the outer side of the fuselage (1), the inclined included angle is 74 degrees, and the area of the end plate (10) is 2.6m2
3. The medium tactical transport of claim 1, wherein: the wing span of the front wing (2) is 65% provided with a first aileron (21) with the length of 4.8m and a flap (22) with the length of 7.7m, the rear edge of the rear wing (4) is provided with a second aileron (42), the wing span of the rear wing (4) is 31% provided with an elevator (41) with the length of 6.9m, and the wing chord of the vertical tail wing (3) is 88% provided with a rudder (31) with the length of 5.8 m.
4. The medium tactical transport of claim 1, wherein: the aircraft is characterized in that an equipment cabin (11) is arranged on the lower portion of the front of the aircraft body (1), a cockpit (12) is arranged on the upper portion of the front of the aircraft body (1), a central wing box (13) is arranged on the aircraft body (1) behind the cockpit (12), and the front wing (2) is connected with the central wing box (13).
5. The medium tactical transport of claim 1, wherein: a left engine (51) and a right engine (52) are respectively arranged on two sides of the fuselage (1) which are 18.3m away from the front part of the fuselage (1).
6. The medium tactical transport of claim 1, wherein: and a nose landing gear (61) is arranged at the lower part 6.3m away from the front part of the airplane body (1), and a main landing gear (62) which is bilaterally symmetrical is arranged at the lower part 14m away from the front part of the airplane body (1).
7. The medium tactical transport of claim 1, wherein: a cargo hold (88) is arranged in a midship of the fuselage (1), and a double-piece tail cabin door (8) is arranged at the bottom of the cargo hold (88).
8. The medium tactical transport of claim 1, wherein: lower part from fuselage (1) front portion 17.2 goes out is provided with unmanned aerial vehicle and retrieves and releases cabin (7), unmanned aerial vehicle retrieves and releases cabin (7) and includes that unmanned aerial vehicle retrieves cabin floor (111), is located many pairs of guiding groove (71) on unmanned aerial vehicle retrieves cabin floor (111), every pair guiding groove (71) matched with unmanned aerial vehicle docking structure (9) and trip mechanism (72) and be located bottom under deck door (73) of bottom, every pair guiding groove (71) are including two horizontal boards (555) of level and symmetry, be located gap (222) between two horizontal boards (555) and be located longitudinal plate (666) of lateral plate (555) outside edge bottom, horizontal board (555) with longitudinal plate (666) integrated into one piece, gap (222) from the centre to keeping away from one side of trip mechanism (72) increases in proper order, unmanned aerial vehicle docking structure (9) have the fixed block of round ring channel (333) for the periphery, the upper portion of fixed block is unmanned aerial vehicle butt joint face (444), fixed block both sides ring channel (333) with two diaphragm (555) cooperate, around the fixed block ring channel (333) cooperate with trip mechanism (72).
9. The medium tactical transport of claim 8, wherein: the number of the guide grooves (71) is 4.
CN202010443344.5A 2020-05-22 2020-05-22 Medium-sized tactical transporter Pending CN111572773A (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112623186A (en) * 2020-12-24 2021-04-09 中国航空工业集团公司西安飞机设计研究所 Lift type statically stable airplane
CN116573179A (en) * 2023-05-31 2023-08-11 北京航空航天大学云南创新研究院 Box-type layout tilting rotor miniature unmanned aerial vehicle

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112623186A (en) * 2020-12-24 2021-04-09 中国航空工业集团公司西安飞机设计研究所 Lift type statically stable airplane
CN116573179A (en) * 2023-05-31 2023-08-11 北京航空航天大学云南创新研究院 Box-type layout tilting rotor miniature unmanned aerial vehicle

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